Team4388/RiseOfRidgebotics2020
1
0
Fork 0
mirror of https://github.com/Team4388/RiseOfRidgebotics2020.git synced 2026-06-09 08:48:01 -06:00
Code Issues Packages Projects Releases Wiki Activity

Added PID Stuff for pigeon go straight

Browse Source
This commit is contained in:
aarav18
2020-01-23 16:42:20 -07:00
parent 2d1ba14cfd
commit 7008ceb453
4 changed files with 75 additions and 33 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/commands/DriveAtVelocityPID.java
+8 -5
View File
@@ -7,6 +7,8 @@
package frc4388.robot.commands;
import com.ctre.phoenix.motorcontrol.FollowerType;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.Constants.DriveConstants;
import frc4388.robot.subsystems.Drive;
@@ -24,22 +26,23 @@ public class DriveAtVelocityPID extends CommandBase {
public DriveAtVelocityPID(Drive subsystem, double targetVel) {
// Use addRequirements() here to declare subsystem dependencies.
m_drive = subsystem;
m_targetVel = targetVel * DriveConstants.TICKS_PER_INCH/DriveConstants.SECONDS_TO_TICK_TIME;
m_targetVel = targetVel /* DriveConstants.TICKS_PER_INCH/DriveConstants.SECONDS_TO_TICK_TIME;*/;
addRequirements(m_drive);
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
m_leftTarget = m_targetVel;
m_rightTarget = -m_targetVel;
m_leftTarget = -m_targetVel;
m_rightTarget = m_targetVel;
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_drive.runVelocityPID(m_drive.m_leftFrontMotor, m_leftTarget);
m_drive.runVelocityPID(m_drive.m_rightFrontMotor, m_rightTarget);
//m_drive.runVelocityPID(m_drive.m_rightFrontMotor, m_rightTarget);
//m_drive.runVelocityPID(m_drive.m_leftFrontMotor, m_leftTarget);
//m_drive.m_leftFrontMotor.follow(m_drive.m_rightFrontMotor, FollowerType.PercentOutput);
}
// Called once the command ends or is interrupted.